/**
 * Copyright (C) 2011  E-Robot
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>
 *
 * @brief ThreadHIMM.cpp
 *
 * @date 18 nov. 2010
 * @author elca
 * @version 0.1
 */

#include "ThreadHIMM.h"
#include "Robot.h"
#include <iostream>
#include "Map/Map.h"
using namespace std;
#include <QDebug>
ThreadHIMM::ThreadHIMM(Map*_map)
{
	m_map = _map;
}

void ThreadHIMM::run(){
	Robot robot("simple");

	connect(&robot ,SIGNAL(updateMap(QLineF)), m_map  ,SLOT(updateCell(QLineF)) , Qt::DirectConnection);
	connect(m_map  ,SIGNAL(changeAlgo()),      &robot ,SLOT(changeAlgo()), Qt::DirectConnection       );
	//Boucle infinie qui permet de mettre à jour les sonars et de déplacer le robot
	while(true){
		robot.updateSonar();
		robot.process();
	}
}
ThreadHIMM::~ThreadHIMM()
{
	// TODO Auto-generated destructor stub
}
